Release 1.17e

Fixed divide by zero bug in LWIP (affected Duet 085 build only)
G29 S1 now clears bed transform before loading height map
M122 software reset data now includes a stack dump if the reason was a
hard fault
M122 now reports the type of bed compensation in use

7 files changed, 49 insertions, 14 deletions

diff --git a/src/Duet/Lwip/lwip/src/core/ipv4/igmp.c b/src/Duet/Lwip/lwip/src/core/ipv4/igmp.c
index 88041996..ccb5d737 100644
--- a/src/Duet/Lwip/lwip/src/core/ipv4/igmp.c
+++ b/src/Duet/Lwip/lwip/src/core/ipv4/igmp.c
@@ -697,12 +697,16 @@ igmp_timeout(struct igmp_group *group)
 static void
 igmp_start_timer(struct igmp_group *group, u8_t max_time)
 {
+#if 1	// dc42 fix for divide by zero error (this has been confirmed to occur in Duet085 firmware 1.17d)
+  group->timer = (max_time > 2) ? (LWIP_RAND() % (max_time - 1)) + 1 : 1;
+#else
   /* ensure the input value is > 0 */
   if (max_time == 0) {
     max_time = 1;
   }
   /* ensure the random value is > 0 */
   group->timer = (LWIP_RAND() % (max_time - 1)) + 1;
+#endif
 }
 
 /**
@@ -722,7 +726,6 @@ igmp_delaying_member(struct igmp_group *group, u8_t maxresp)
   }
 }
 
-
 /**
  * Sends an IP packet on a network interface. This function constructs the IP header
  * and calculates the IP header checksum. If the source IP address is NULL,
diff --git a/src/DuetNG/DuetEthernet/Socket.cpp b/src/DuetNG/DuetEthernet/Socket.cpp
index feba6b73..d913300c 100644
--- a/src/DuetNG/DuetEthernet/Socket.cpp
+++ b/src/DuetNG/DuetEthernet/Socket.cpp
@@ -147,6 +147,12 @@ bool Socket::ReadBuffer(const char *&buffer, size_t &len)
 // Poll a socket to see if it needs to be serviced
 void Socket::Poll(bool full)
 {
+	// Recycle any receive buffers that are now empty
+	while (receivedData != nullptr && receivedData->IsEmpty())
+	{
+		receivedData = receivedData->Release();		// discard empty buffer at head of chain
+	}
+
 	switch(getSn_SR(socketNum))
 	{
 	case SOCK_INIT:
diff --git a/src/GCodes/GCodes.cpp b/src/GCodes/GCodes.cpp
index 35c8714e..85c41f54 100644
--- a/src/GCodes/GCodes.cpp
+++ b/src/GCodes/GCodes.cpp
@@ -2237,6 +2237,7 @@ bool GCodes::ProbeGrid(GCodeBuffer& gb, StringRef& reply)
 
 bool GCodes::LoadHeightMap(GCodeBuffer& gb, StringRef& reply) const
 {
+	reprap.GetMove()->SetIdentityTransform();					// stop using old-style bed compensation and clear the height map
 	const char* heightMapFileName;
 	if (gb.Seen('P'))
 	{
@@ -2247,7 +2248,6 @@ bool GCodes::LoadHeightMap(GCodeBuffer& gb, StringRef& reply) const
 		heightMapFileName = DefaultHeightMapFile;
 	}
 	FileStore * const f = platform->GetFileStore(platform->GetSysDir(), heightMapFileName, false);
-
 	if (f == nullptr)
 	{
 		reply.printf("Height map file %s not found", heightMapFileName);
diff --git a/src/Movement/Move.cpp b/src/Movement/Move.cpp
index ab419fdd..e2334a45 100644
--- a/src/Movement/Move.cpp
+++ b/src/Movement/Move.cpp
@@ -414,7 +414,16 @@ void Move::Diagnostics(MessageType mtype)
 	numLookaheadUnderruns = numPrepareUnderruns = 0;
 	longestGcodeWaitInterval = 0;
 
-	// Show the current probe position heights
+	// Show the current probe position heights and type of bed compensation in use
+	p->Message(mtype, "Bed compensation in use: ");
+	if (numBedCompensationPoints == 0)
+	{
+		p->MessageF(mtype, "%s\n", (grid.UsingHeightMap()) ? "mesh" : "none");
+	}
+	else
+	{
+		p->MessageF(mtype, "%d point\n", numBedCompensationPoints);
+	}
 	p->Message(mtype, "Bed probe heights:");
 	for (size_t i = 0; i < MaxProbePoints; ++i)
 	{
diff --git a/src/Platform.cpp b/src/Platform.cpp
index 06b3b6b8..7b9e479f 100644
--- a/src/Platform.cpp
+++ b/src/Platform.cpp
@@ -146,7 +146,7 @@ extern "C"
 	// Also get the program counter when the exception occurred.
 	void prvGetRegistersFromStack(const uint32_t *pulFaultStackAddress)
 	{
-	    reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::hardFault, pulFaultStackAddress + 6);
+	    reprap.GetPlatform()->SoftwareReset((uint16_t)SoftwareResetReason::hardFault, pulFaultStackAddress + 5);
 	}
 
 	// The fault handler implementation calls a function called prvGetRegistersFromStack()
@@ -400,7 +400,7 @@ void Platform::Init()
 		break;
 	}
 
-	// Initialise TMC2660 drivers
+	// Initialise TMC2660 driver module
 	driversPowered = false;
 	TMC2660::Init(ENABLE_PINS, numTMC2660Drivers);
 #endif
@@ -1278,12 +1278,14 @@ void Platform::SoftwareReset(uint16_t reason, const uint32_t *stk)
 		}
 		srdBuf[slot].magic = SoftwareResetData::magicValue;
 		srdBuf[slot].resetReason = reason;
-		GetStackUsage(NULL, NULL, &srdBuf[slot].neverUsedRam);
+		GetStackUsage(nullptr, nullptr, &srdBuf[slot].neverUsedRam);
 		srdBuf[slot].hfsr = SCB->HFSR;
 		srdBuf[slot].cfsr = SCB->CFSR;
 		srdBuf[slot].icsr = SCB->ICSR;
+		srdBuf[slot].bfar = SCB->BFAR;
 		if (stk != nullptr)
 		{
+			srdBuf[slot].sp = reinterpret_cast<uint32_t>(stk);
 			for (size_t i = 0; i < ARRAY_SIZE(srdBuf[slot].stack); ++i)
 			{
 				srdBuf[slot].stack[i] = stk[i];
@@ -1458,8 +1460,8 @@ void Platform::Diagnostics(MessageType mtype)
 			{
 				scratchString.catf(" %08x", srdBuf[slot].stack[i]);
 			}
-			MessageF(mtype, "0x%04x, HFSR 0x%08x, CFSR 0x%08x, ICSR 0x%08x\nStack:%s\n",
-					srdBuf[slot].resetReason, srdBuf[slot].hfsr, srdBuf[slot].cfsr, srdBuf[slot].icsr, scratchString.Pointer());
+			MessageF(mtype, "0x%04x, HFSR 0x%08x, CFSR 0x%08x, ICSR 0x%08x, BFAR 0x%08x, SP 0x%08x\nStack:%s\n",
+					srdBuf[slot].resetReason, srdBuf[slot].hfsr, srdBuf[slot].cfsr, srdBuf[slot].icsr, srdBuf[slot].bfar, srdBuf[slot].sp, scratchString.Pointer());
 			MessageF(mtype, "Spinning module during software reset: %s, available RAM %u bytes (slot %d)\n",
 					moduleName[srdBuf[slot].resetReason & 0x0F], srdBuf[slot].neverUsedRam, slot);
 		}
@@ -1593,6 +1595,15 @@ void Platform::DiagnosticTest(int d)
 		(void)RepRap::ReadDword(reinterpret_cast<const char*>(dummy) + 1);	// call function in another module so it can't be optimised away
 		break;
 
+	case (int)DiagnosticTestType::BusFault:
+		// Read from the "Undefined (Abort)" area
+#ifdef DUET_NG
+		(void)RepRap::ReadDword(reinterpret_cast<const char*>(0x20800000));
+#else
+		(void)RepRap::ReadDword(reinterpret_cast<const char*>(0x20200000));
+#endif
+		break;
+
 	case (int)DiagnosticTestType::PrintMoves:
 		DDA::PrintMoves();
 		break;
diff --git a/src/Platform.h b/src/Platform.h
index 52f7d453..869d05d0 100644
--- a/src/Platform.h
+++ b/src/Platform.h
@@ -175,6 +175,7 @@ enum class DiagnosticTestType : int
 	TestSerialBlock = 1003,			// test what happens when we write a blocking message via debugPrintf()
 	DivideByZero = 1004,			// do an integer divide by zero to test exception handling
 	UnalignedMemoryAccess = 1005,	// do an unaligned memory access to test exception handling
+	BusFault = 1006,				// generate a bus fault
 
 	PrintMoves = 100,				// print summary of recent moves
 #ifdef DUET_NG
@@ -610,9 +611,12 @@ private:
 	// directly from/to flash memory.
 	struct SoftwareResetData
 	{
-		static const uint16_t versionValue = 6;		// increment this whenever this struct changes
+		static const uint16_t versionValue = 7;		// increment this whenever this struct changes
 		static const uint16_t magicValue = 0x7D00 | versionValue;	// value we use to recognise that all the flash data has been written
-		static const size_t numberOfSlots = 6;		// number of storage slots used to implement wear levelling
+#ifndef DUET_NG
+		static const uint32_t nvAddress = 0;		// must be 4-byte aligned
+#endif
+		static const size_t numberOfSlots = 5;		// number of storage slots used to implement wear levelling - must fit in 512 bytes
 
 		uint16_t magic;								// the magic number, including the version
 		uint16_t resetReason;						// this records why we did a software reset, for diagnostic purposes
@@ -620,7 +624,9 @@ private:
 		uint32_t hfsr;								// hard fault status register
 		uint32_t cfsr;								// configurable fault status register
 		uint32_t icsr;								// interrupt control and state register
-		uint32_t stack[16];							// stack when the exception occurred, with the program counter at the bottom
+		uint32_t bfar;								// bus fault address register
+		uint32_t sp;								// stack pointer
+		uint32_t stack[18];							// stack when the exception occurred, with the program counter at the bottom
 
 		bool isVacant() const						// return true if this struct can be written without erasing it first
 		{
@@ -1262,7 +1268,7 @@ inline float Platform::AdcReadingToPowerVoltage(uint16_t adcVal)
 //	The PC and PD bit numbers don't overlap, so we use their actual positions.
 //	PA0 clashes with PD0, so we use bit 1 to represent PA0.
 // RADDS:
-//	To be done
+//	Step pins are distributed over all 4 ports, but they are in different bit positions except for port C
 
 // Calculate the step bit for a driver. This doesn't need to be fast.
 /*static*/ inline uint32_t Platform::CalcDriverBitmap(size_t driver)
diff --git a/src/Version.h b/src/Version.h
index fa8bf2e9..d7aa8890 100644
--- a/src/Version.h
+++ b/src/Version.h
@@ -9,11 +9,11 @@
 #define SRC_VERSION_H_
 
 #ifndef VERSION
-# define VERSION "1.17d+1"
+# define VERSION "1.17e"
 #endif
 
 #ifndef DATE
-# define DATE "2017-02-01"
+# define DATE "2017-02-10"
 #endif
 
 #define AUTHORS "reprappro, dc42, chrishamm, t3p3, dnewman"